class GlobalVariable:
    # 用以存储一些全局变量
    tick = -1
    # Optimized prediction delay for better anticipation of movements
    tick_delay = 4
    # Optimized goalkeeper position - slightly further from goal line
    goalkepper_X = 110 - 2
    
    # Ball prediction constants
    BALL_PREDICTION_WEIGHT_CURRENT = 0.7
    BALL_PREDICTION_WEIGHT_FUTURE = 0.3
    
    # PID tuning constants
    MOVETO_P = 0.65
    MOVETO_I = 0.001
    MOVETO_D = 2.4
    
    # Speed control constants
    MAX_SPEED = 125
    MIN_SPEED = 20
    SPEED_SCALE_DISTANCE = 0.35
    SPEED_SCALE_DELTA = 1.3
